CN208557478U - It is a kind of prevent walking interfere lower limb help seat ectoskeleton - Google Patents
It is a kind of prevent walking interfere lower limb help seat ectoskeleton Download PDFInfo
- Publication number
- CN208557478U CN208557478U CN201820666143.XU CN201820666143U CN208557478U CN 208557478 U CN208557478 U CN 208557478U CN 201820666143 U CN201820666143 U CN 201820666143U CN 208557478 U CN208557478 U CN 208557478U
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- China
- Prior art keywords
- foot
- bandage
- hole
- gas spring
- thigh
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 23
- 210000000689 upper leg Anatomy 0.000 claims abstract description 39
- 210000002414 leg Anatomy 0.000 claims abstract description 28
- 230000002452 interceptive effect Effects 0.000 claims abstract description 18
- 210000000988 bone and bone Anatomy 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
- 210000000629 knee joint Anatomy 0.000 abstract description 2
- 238000005452 bending Methods 0.000 description 5
- 210000001217 buttock Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010036872 Prolonged labour Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 210000001694 thigh bone Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C9/00—Stools for specified purposes
- A47C9/02—Office stools not provided for in main groups A47C1/00, A47C3/00 or A47C7/00; Workshop stools
- A47C9/025—Stools for standing or leaning against, e.g. in a semi-standing or half-seated position
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a kind of lower limb for preventing walking from interfering to help seat ectoskeleton, including upper body bandage, left leg and right leg；The upper body bandage is connect with left leg and right leg respectively；The left leg is identical with the structure of right leg, includes seat cushion, thigh skeleton, shank skeleton, unloads power strut, ball pair, stablizes pad and foot；Controllable gas spring connecting hole and gas spring hole are hinged, and controllable gas spring is enable to rotate around thigh skeleton；Have in shank skeleton with hollow structure, straight rail is installed in hollow structure；Bearing is placed in straight rail, can be scrolled up and down in straight rail；This pedipulator more meets ergonomics, and the comfort of human body is all satisfied in terms of joint angles and freedom degree.In terms of joint angles, the most comfortable posture seating angle of human body, including knee joint and Hip Angle are analyzed, to wearer one comfortable sitting posture experience；In terms of freedom degree, not only walking process is not interfered, but also has optimal stability under sitting posture state.
Description
Technical field
The utility model relates to power assisting device, specifically a kind of lower limb for preventing walking from interfering help seat ectoskeleton.
Background technique
At this stage, worker's high load capacity and prolonged labour, reduce its working efficiency constantly, and influence the body of worker
Body health.Again because factory floor space is narrow, be not suitable for the seat for putting worker's rest, and move inconvenience.So when long
Between standing work, so that worker is felt exhausted within a short period of time, influence the comfort level and operating efficiency of worker's operation.
Application No. is 201721030664.8 documents to disclose a kind of lower limb assistance exoskeleton based on Gravity support, it
The pedipulator being distributed on rear side of human leg by two forms, which has: when wearer's walking, because knee closes
It walks interference problem caused by section angle is immutable；When wearer sits down, because the seat cushion angle of buttocks is immutable, and under being
Degree of tilt gives the uncomfortable feeling of wearer so there is falling tendency.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model intends to solve, which is to provide one kind, prevents walking from interfering
Lower limb help seat ectoskeleton.
The utility model solve the technical problem technical solution be to provide it is a kind of prevent walking interfere lower limb help seat
Ectoskeleton, it is characterised in that the pedipulator includes upper body bandage, left leg and right leg；The upper body bandage respectively with left leg and right leg
Connection；The left leg is identical with the structure of right leg, includes seat cushion, thigh skeleton, shank skeleton, controllable gas spring bearing
Mechanism unloads power strut, ball pair, stablizes pad and foot；
The upper body bandage includes bandage ontology and upper body buckle；The upper end of the seat cushion is equipped with connecting column, under
End is provided with seat cushion fixation hole；The upper end of the thigh skeleton is provided with thigh framework fixing hole and bandage connecting column, lower end
It is provided with shank connecting hole and controllable gas spring connecting hole；The upper end of the shank skeleton is provided with thigh connecting hole, and lower end, which is provided with, unloads
Power pole hole, side wall are provided with fastening screw hole, and fastening screw hole is communicated with power pole hole is unloaded；The controllable gas spring Bearning mechanism
Including bearing, controllable gas spring and axis；The upper end of the controllable gas spring is provided with gas spring hole, and lower end aperture is equipped with axis, axis
Both ends are equipped with bearing；The upper end of the power of the unloading strut is provided with several little grooves, and lower end is provided with concave station；The foot includes foot
Connector, foot prop, foot pad, foot's bandage and foot's buckle；
The connecting column is connect with bandage ontology；The seat cushion fixation hole is connect with thigh framework fixing hole；It is described
Thigh bandage with thigh buckle is installed on bandage connecting column；The shank connecting hole and thigh connecting hole are connected by pin shaft
It connects, shank skeleton is enable to rotate around thigh skeleton；The controllable gas spring connecting hole and gas spring hole are hinged, make controllable gas
Spring can be rotated around thigh skeleton；Have in the shank skeleton with hollow structure, straight rail is installed in hollow structure；
The bearing is placed in straight rail, can be scrolled up and down in straight rail；The top of the power of the unloading strut, which is mounted on, unloads power strut
Kong Zhong, after adjusting appropriate length, by fastening screw pass through fastening screw hole withstand in little groove, realization unload power strut with it is small
The fixation of thigh bone frame；The end of the power of the unloading strut is equipped with ball pair, ball pair and stablizes pad connection, and stablizing pad can be around unloading power strut
Stablize pad respectively to rotation, when guaranteeing any posture seating angle to completely attach to ground；Foot's connector is mounted on concave station,
End is connect by axis with foot prop, and foot's connector can be around power strut left-right rotation be unloaded, and foot prop can be around foot's connector left/right rotation
Dynamic, foot prop rotates up and down around power bracket is unloaded；The front end of the foot prop is equipped with foot pad by axis；Strip hole is provided on foot pad
For installing foot's bandage；Foot's buckle is installed on foot's bandage.
Compared with prior art, the utility model beneficial effect is:
(1) this pedipulator more meets ergonomics, and the comfort of human body is all satisfied in terms of joint angles and freedom degree.
In terms of joint angles, the most comfortable posture seating angle of human body, including knee joint and Hip Angle are analyzed, it is comfortable to wearer one
Sitting posture experience；In terms of freedom degree, not only walking process is not interfered, but also has optimal stability under sitting posture state.
(2) pedipulator is unpowered mechanical leg, and complete machine is more light compared with dynamic pedipulator, wears convenient for wearer
It wears.
(3) controllable gas spring Bearning mechanism can be rolled in straight rail by bearing, when can be to avoid human body walking
Interference.
(4) part power can be discharged to ground by unloading power strut when wearer sits down, mitigates foot pressure.It unloads on power strut
Be provided with little groove, can according to the long wearer of different legs can by adjust unload power strut unload the length in power pole hole come
Adjust the length of pedipulator shank.
(5) seat cushion has preferable elasticity and toughness, when wearer's buttocks is sitting on seat cushion, according to people's
Sitting posture is different, and seat cushion automatically adjusts its bending angle according to stress, because bending angle is adjustable, buttocks of sitting down will not
There is falling tendency, it is more stable.
(6) shank connecting hole and controllable gas spring connecting hole make the distance in two holes most under the premise of not influencing interference
It is small, increase the compactedness of mechanism.
(7) it unloads the setting of power strut end and stablizes pad, stablizing pad can be around unloading power strut respectively to rotation, to guarantee any sitting posture angle
Stablize pad when spending to completely attach to ground, achievees the effect that unload power and stable.
Detailed description of the invention
Fig. 1 is that the lower limb that the utility model prevents walking from interfering help the overall structure signal for sitting a kind of embodiment of ectoskeleton
Figure；
Fig. 2 is that the lower limb that the utility model prevents walking from interfering help the upper body bandage signal for sitting a kind of embodiment of ectoskeleton
Figure；
Fig. 3 is that the lower limb that the utility model prevents walking from interfering help the elastic cushion signal for sitting a kind of embodiment of ectoskeleton
Figure；
Fig. 4 is that the lower limb that the utility model prevents walking from interfering help the thigh skeleton signal for sitting a kind of embodiment of ectoskeleton
Figure；
Fig. 5 is that the lower limb that the utility model prevents walking from interfering help the shank skeleton front axis for sitting a kind of embodiment of ectoskeleton
It measures and is intended to；
Fig. 6 is that the lower limb that the utility model prevents walking from interfering help the shank skeleton back side axis for sitting a kind of embodiment of ectoskeleton
It measures and is intended to；
Fig. 7 is that the lower limb that the utility model prevents walking from interfering help the controllable gas spring bearing for sitting a kind of embodiment of ectoskeleton
Structural scheme of mechanism；
Fig. 8 is that the lower limb that the utility model prevents walking from interfering help the thigh skeleton and shank for sitting a kind of embodiment of ectoskeleton
Skeleton connection schematic diagram；
Fig. 9 is that the lower limb that the utility model prevents walking from interfering help the power strut that unloads for sitting a kind of embodiment of ectoskeleton to illustrate
Figure；
Figure 10 is that the lower limb that the utility model prevents walking from interfering help the foot's schematic diagram for sitting a kind of embodiment of ectoskeleton；
(in figure: 1, upper body bandage；11, bandage ontology；12, upper body buckles；2, seat cushion；21, connecting column；22, seat cushion is fixed
Hole；3, thigh skeleton；31, thigh framework fixing hole；32, shank connecting hole；33, controllable gas spring connecting hole；34, bandage connects
Column；35, thigh bandage；36, thigh buckles；4, shank skeleton；41, thigh connecting hole；42, straight rail；43, fastening screw hole；
44, power pole hole is unloaded；5, controllable gas spring Bearning mechanism；51, bearing；52, controllable gas spring；53, gas spring hole；54, axis；6,
Unload power strut；61, little groove；62, concave station；63, ball pair；64, stablize pad；7, foot；71, foot's connector；72, foot prop；73,
Foot pad；74, foot's bandage；75, strip hole；76, foot buckles)
Specific embodiment
Specific embodiment of the utility model is given below.Specific embodiment is only used for being further described originally practical new
Type does not limit the protection scope of the claim of this application.
The utility model provide it is a kind of prevent walking interfere lower limb help sit ectoskeleton (abbreviation pedipulator, referring to Fig. 1-
10), it is characterised in that the pedipulator includes upper body bandage 1, left leg and right leg；The upper body bandage 1 respectively with left leg and right leg
Connection；The left leg is identical with the structure of right leg, includes seat cushion 2, thigh skeleton 3, shank skeleton 4, controllable gas spring
Bearning mechanism 5 unloads power strut 6, ball pair 63, stablizes pad 64 and foot 7；
The upper body bandage 1 includes bandage ontology 11 and upper body buckle 12；The upper end of the seat cushion 2 is equipped with connection
Column 21, lower end are provided with seat cushion fixation hole 22；The upper end of the thigh skeleton 3 is provided with thigh framework fixing hole 31 and bandage
Connecting column 34, lower end are provided with shank connecting hole 32 and controllable gas spring connecting hole 33；The upper end of the shank skeleton 4 is provided with thigh
Connecting hole 41, lower end, which is provided with, unloads power pole hole 44, and side wall is provided with fastening screw hole 43, fastening screw hole 43 and unloads power pole hole 44
It communicates；The controllable gas spring Bearning mechanism 5 includes bearing 51, controllable gas spring 52 and axis 54；The controllable gas spring 52
Upper end is provided with gas spring hole 53, and lower end aperture is equipped with axis 54, and 54 both ends of axis are equipped with bearing 51；The power of the unloading strut 6 it is upper
End is provided with several little grooves 61, and lower end is provided with concave station 62；The foot 7 includes foot's connector 71, foot prop 72, foot pad 73, foot
Portion's bandage 74 and foot's buckle 76；
The upper body buckle 12 is mounted on bandage ontology 11, for the fixed bandage ontology 11 for adjusting length；It is described
Connecting column 21 is connect with bandage ontology 11；The seat cushion fixation hole 22 and 31 rivet interlacement of thigh framework fixing hole；It is described
Thigh bandage 35 with thigh buckle 36 is installed on bandage connecting column 34；The shank connecting hole 32 and thigh connecting hole 41
It is connected by pin shaft, shank skeleton 4 is enable to rotate around thigh skeleton 3；The controllable gas spring connecting hole 33 and gas spring
Hole 53 is hinged, and controllable gas spring 52 is enable to rotate around thigh skeleton 3；Have in the shank skeleton 4 with hollow structure, in
Straight rail 42 is installed in hollow structure；The bearing 51 is placed in straight rail 42, can be scrolled up and down in straight rail 42；It is described
The top for unloading power strut 6, which is mounted on, unloads in power pole hole 44, after adjusting appropriate length, passes through fastening screw by fastening screw
Hole 43 is withstood in little groove 61, realizes the fixation for unloading power strut 6 Yu shank skeleton 4；The end of the power of the unloading strut 6 is equipped with ball
Pair 63, ball pair 63 are connect with pad 64 is stablized, and stabilization pad 64 can be around unloading power strut 6 respectively to rotation, when guaranteeing any posture seating angle
Stablize pad 64 to completely attach to ground, achievees the effect that unload power and stable.Foot's connector 71 is mounted on concave station 62, end
End is connect by axis with foot prop 72, and foot's connector 71 can be around 6 left-right rotation of power strut be unloaded, and foot prop 72 can be around foot's connector 71
Left-right rotation realizes that foot prop 72 rotates up and down around power bracket 6 is unloaded, thus to guarantee the flexibility of wearer's foot；It is described
Foot prop 72 is a U-shaped structure, and foot is put in wherein by wearer；The front end of the foot prop 72 is equipped with foot pad 73 by axis；Foot
Pad 73 is the place that wearer steps on, and strip hole 76 is provided on foot pad 73 for installing foot's bandage 74；Foot's bandage 74 is for making
People's foot and foot 7 are fixed；Foot's buckle 76 is installed on foot's bandage 74, after wearer is worn by pedipulator, is closed foot
Buckle 76 realizes the connection of people's foot and pedipulator foot 7.
The lower limb that the utility model prevents walking from interfering help the working principle for sitting ectoskeleton and workflow is:
Bandage has elasticity and length is adjustable, and wearer is each by upper body bandage 1, leg strap 35 and foot's bandage 74 first
From buckle open, put on and regulate the length of bandage, be then stuck with buckle realization and fixed with wearer, then adjust unload
Power strut 6 is unloading the position in power pole hole 44 to be suitble to the height of wearer, can normal use after fixed.
Seat cushion 2 has preferable elasticity and toughness, when wearer's buttocks is sitting on seat cushion 2, according to people's
Sitting posture is different, and seat cushion 2 automatically adjusts its bending angle according to stress, because bending angle is adjustable, sits down buttocks not
Falling tendency is had, it is more stable, feel to the sitting posture the most comfortable of wearer one.
When wearer needs to sit down, controllable gas spring Bearning mechanism 5 slips down to bottommost along straight rail 42 first, if
The position meets sitting posture requirement and is then not required to adjust the length of controllable gas spring 52；It can if the sitting posture requirement for being unsatisfactory for wearer
It adjusts the length of controllable gas spring 52 and then is adjusted to the sitting posture of wearer's needs.It, can be straight when wearer needs to stand walking
Connect walking of standing up.Because there is the design of straight rail 42, when controllable gas spring Bearning mechanism 5 in wearer's walking process can be
Kneed bending is slided and then not interfered in straight rail 42.
The utility model does not address place and is suitable for the prior art.
Claims (3)
1. a kind of lower limb for preventing walking from interfering help seat ectoskeleton, it is characterised in that the lower limb for preventing walking from interfering help seat dermoskeleton
Bone includes upper body bandage, left leg and right leg；The upper body bandage is connect with left leg and right leg respectively；The knot of the left leg and right leg
Structure is identical, includes seat cushion, thigh skeleton, shank skeleton, controllable gas spring Bearning mechanism, unloads power strut, ball pair, stablizes
Pad and foot；
The upper body bandage includes bandage ontology and upper body buckle；The upper end of the seat cushion is equipped with connecting column, and lower end is opened
Flexible seat cushion fixation hole；The upper end of the thigh skeleton is provided with thigh framework fixing hole and bandage connecting column, and lower end is provided with
Shank connecting hole and controllable gas spring connecting hole；The upper end of the shank skeleton is provided with thigh connecting hole, and lower end, which is provided with, unloads power branch
Rod aperture, side wall are provided with fastening screw hole, and fastening screw hole is communicated with power pole hole is unloaded；The controllable gas spring Bearning mechanism includes
Bearing, controllable gas spring and axis；The upper end of the controllable gas spring is provided with gas spring hole, and lower end aperture is equipped with axis, axis both ends
Bearing is installed；The upper end of the power of the unloading strut is provided with several little grooves, and lower end is provided with concave station；The foot includes foot's connection
Part, foot prop, foot pad, foot's bandage and foot's buckle；
The connecting column is connect with bandage ontology；The seat cushion fixation hole is connect with thigh framework fixing hole；The bandage
Thigh bandage with thigh buckle is installed on connecting column；The shank connecting hole is connect with thigh connecting hole by pin shaft,
Shank skeleton is set to rotate around thigh skeleton；The controllable gas spring connecting hole and gas spring hole are hinged, make controllable gas bullet
Spring can be rotated around thigh skeleton；Have in the shank skeleton with hollow structure, straight rail is installed in hollow structure；Institute
It states bearing to be placed in straight rail, can be scrolled up and down in straight rail；The top of the power of the unloading strut, which is mounted on, unloads power pole hole
In, after adjusting appropriate length, fastening screw hole is passed through by fastening screw and is withstood in little groove, power strut and shank are unloaded in realization
The fixation of skeleton；The end of the power of the unloading strut is equipped with ball pair, ball pair and stable pad connection, and stablizing pad can be each around power strut is unloaded
Stablize pad to rotation, when guaranteeing any posture seating angle to completely attach to ground；Foot's connector is mounted on concave station, end
End is connect by axis with foot prop, foot's connector can around unloading power strut left-right rotation, foot prop can around foot's connector left-right rotation,
Foot prop rotates up and down around power bracket is unloaded；The front end of the foot prop is equipped with foot pad by axis；Strip hole use is provided on foot pad
In installation foot's bandage；Foot's buckle is installed on foot's bandage.
2. the lower limb according to claim 1 for preventing walking from interfering help seat ectoskeleton, it is characterised in that the upper body buckle
It is mounted on bandage ontology, for the fixed bandage ontology for adjusting length.
3. the lower limb according to claim 1 for preventing walking from interfering help seat ectoskeleton, it is characterised in that the foot prop is one
A U-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820666143.XU CN208557478U (en) | 2018-05-07 | 2018-05-07 | It is a kind of prevent walking interfere lower limb help seat ectoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820666143.XU CN208557478U (en) | 2018-05-07 | 2018-05-07 | It is a kind of prevent walking interfere lower limb help seat ectoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208557478U true CN208557478U (en) | 2019-03-01 |
Family
ID=65480901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820666143.XU Withdrawn - After Issue CN208557478U (en) | 2018-05-07 | 2018-05-07 | It is a kind of prevent walking interfere lower limb help seat ectoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208557478U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582042A (en) * | 2018-05-07 | 2018-09-28 | 河北工业大学 | One kind is unpowered to help seat pedipulator |
| CN110215295A (en) * | 2019-07-11 | 2019-09-10 | 河北工业大学 | A kind of lower limb help seat device |
| CN110292510A (en) * | 2019-07-08 | 2019-10-01 | 华中科技大学 | A kind of outer limbs robot of human motion auxiliary dual-purpose type |
| CN113041103A (en) * | 2021-04-21 | 2021-06-29 | 南京林业大学 | Supporting device for reducing stress of lower limbs during walking |
| CN113478470A (en) * | 2021-08-17 | 2021-10-08 | 河北工业大学 | Wearable accompanying sitting-assisting exoskeleton |
-
2018
- 2018-05-07 CN CN201820666143.XU patent/CN208557478U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582042A (en) * | 2018-05-07 | 2018-09-28 | 河北工业大学 | One kind is unpowered to help seat pedipulator |
| CN108582042B (en) * | 2018-05-07 | 2023-06-09 | 河北工业大学 | Unpowered sitting-assisting mechanical leg |
| CN110292510A (en) * | 2019-07-08 | 2019-10-01 | 华中科技大学 | A kind of outer limbs robot of human motion auxiliary dual-purpose type |
| CN110215295A (en) * | 2019-07-11 | 2019-09-10 | 河北工业大学 | A kind of lower limb help seat device |
| CN113041103A (en) * | 2021-04-21 | 2021-06-29 | 南京林业大学 | Supporting device for reducing stress of lower limbs during walking |
| CN113478470A (en) * | 2021-08-17 | 2021-10-08 | 河北工业大学 | Wearable accompanying sitting-assisting exoskeleton |
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Granted publication date: 20190301 Effective date of abandoning: 20230609 |
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